Key result
Contact force estimation accounting for pulsatile blood flow improves dynamic accuracy over conventional models during RFCA.
Why the study?
Conventional contact force estimation models in robot-assisted RFCA often neglect intracardiac hemodynamics or assume steady flow, causing large errors under cardiac-cycle velocity variations and pulsatile disturbances.
A novel contact force estimation framework incorporating pulsatile blood flow models improves accuracy for robot-assisted radiofrequency catheter ablation.
May improve precision in robot-assisted catheter ablation; extends current models and warrants clinical validation.
Real-time, accurate estimation of catheter tip-atrial tissue contact force (CF) is essential for safe, effective robot-assisted radiofrequency catheter ablation (RFCA). Conventional models often neglect intracardiac hemodynamics or reduce them to steady flow, missing cardiac-cycle velocity variations and pulsatile disturbances, thus causing large errors. This study proposes a CF estimation framework using cubic Bezier splines for catheter morphology, a sinusoidal velocity model for pulsatile blood flow, and a quasi-static Euler-Bernoulli beam moment equilibrium with distributed hydrodynamic loads. CF is inversely estimated via least-squares and the Moore-Penrose pseudoinverse. FE and in-vitro results show improved dynamic-condition accuracy and physiologically relevant intraoperative feedback.
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Liang et al. (2026) studied this question. A contact force estimation framework accounting for pulsatile blood flow improved dynamic accuracy and provided physiologically relevant intraoperative feedback for radiofrequency catheter ablation.
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